Diff: XBee.h

Revision:

0:ea8459db49ef

Child:

1:58a1c083cf8d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.h	Tue Nov 01 09:04:12 2011 +0000
@@ -0,0 +1,272 @@
+/*
+Copyright (c) 2011, Senio Networks, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef XBEE_H
+#define XBEE_H
+
+#include "mbed.h"
+#include "IOSample.h"
+
+const int BUFSIZE = 512;
+const char ESCAPE = 0x7D;
+const char PREAMBLE = 0x7E;
+
+/**
+ * class for XBee module API mode interface
+ */
+class XBee : public Serial {
+public:
+    /***/
+    enum FrameType {
+        None = 0,
+        ATCommandResponse,
+        ModemStatus,
+        ZigBeeTransmitStatus,
+        ZigBeeReceivePacket,
+        ZigBeeExplicitRxIndicator,
+        ZigBeeIODataSampleRxIndicator,
+        XBeeSensorReadIndicator,
+        NodeIdentificationIndicator,
+        RemoteCommandResponse,
+        Other
+    };
+    /***/
+    enum ValueType {
+        FrameID,
+        ATCommand,
+        Status,
+        CommandData,
+        Address16,
+        Address64,
+        RetryCount,
+        DeliveryStatus,
+        DiscoveryStatus,
+        ReceiveOptions,
+        ReceivedData,
+        RawData
+    };
+
+    /**
+     * creates an XBee interface object.
+     *
+     * @param ser Serial object through which XBee module is connected to mbed
+     * @param apiMode API mode either 1 or 2 (use escape; default)
+     * @param debug display debugging (I/O state) information through LEDs
+     */
+    XBee(Serial& ser, int apiMode = 2, bool debug = false);
+
+    /**
+     * creates an XBee interface object.
+     *
+     * @param ser Serial object through which XBee module is connected to mbed
+     * @param mon alternate Serial object for monitoring (use serial ports other than USBTX/USBRX)
+     * @param apiMode API mode either 1 or 2 (use escape; default)
+     * @param debug display debugging (I/O state) information through LEDs
+     */
+    XBee(Serial& ser, Serial& mon, int apiMode = 2, bool debug = false);
+
+    /**
+     * initializes XBee module.
+     *
+     * issues VR command to test XBee modem connection
+     *
+     * @returns true if initialization succeeded, false otherwise
+     */
+    bool init(float timeout = 15.0);
+
+    /**
+     * sets destination addresses.
+     *
+     * @param address64 64-bit destination address in unsigned long long
+     * @param address16 16-bit destination address in unsigned short
+     */
+    void setDestination(unsigned long long address64, unsigned short address16 = 0xFFFE);
+
+    /**
+      * sets destination addresses.
+      *
+      * @param address64 64-bit destination address in bytes (big endian)
+      * @param address16 16-bit destination address in bytes
+      */
+    void setDestination(char address64[], char address16[]);
+
+    /**
+      * sets 64-bit destination address.
+      *
+      * this function is used when 16-bit address is unknown
+      * @param address64 64-bit destination address in bytes (big endian)
+      */
+    void setDestination(char address64[]);
+
+    /**
+     * sends an AT command.
+     *
+     * @param command AT command char string
+     * @param param parameter to the AT command (pointer to byte array)
+     * @param param_length parameter length in bytes
+     * @param queue true if command paramter is to be queued
+     */
+    void sendCommand(char* command, char* param = 0, int param_length = 0, bool queue = false);
+
+    /**
+     * sends a remote AT command.
+     *
+     * sends an AT command to the XBee(s) at the destination address
+     *
+     * @param command AT command char string
+     * @param param parameter to the AT command (pointer to byte array)
+     * @param param_length parameter length in bytes
+     * @param options remote command options
+     */
+    void sendRemoteCommand(char* command, char* param = 0, int param_length = 0, char options = 0x02);
+
+
+    /**
+     * executes an AT command then gets its result.
+     *
+     * @param command AT command char string
+     * @param param parameter to the AT command (pointer to byte array)
+     * @param param_length parameter length in bytes
+     *
+     * @returns pointer to the command result, if the result is a number (char, short, long, long long),
+     *          the address to the number will be returned; otherwise the address to the byte array
+     *          containing the command response will be returned.
+     */
+    void *executeCommand(char *command, char* param = 0, int laram_length = 0);
+
+    /**
+     * sends data to the XBee(s) at the destination address.
+     *
+     * @param data address to the data (byte array)
+     * @param length data length in bytes
+     */
+    void send(char *data, int length);
+
+    /**
+     * sends data and confirm the transmit status.
+     *
+     * @param data address to the data (byte array)
+     * @param length data length in bytes
+     *
+     * @returns true if sent successfully, false otherwise (either timeout or send error occurred)
+     */
+    bool sendConfirm(char *data, int length);
+
+    /**
+     * sends data to the destination using printf format.
+     *
+     * @param format printf format string, followed by corresponding arguments
+     *
+     * @returns the number of charancters sent, or negative if error occurred
+     */
+    int printf(const char *format, ...);
+
+    /**
+     * receives data frame from the XBee module.
+     *
+     * @param timeout seconds bofer time out
+     *
+     * @returns FrameType of the received frame data
+     */
+    FrameType receive(float timeout = 3.0);
+
+    /**
+     * scan received data according to the specified format.
+     *
+     * @param type ValueType of the data to be scanned
+     * @param value pointer to the byte array to store the scanned value
+     * @param maxlength max size of the value in bytes
+     * @param length pointer to an int to receive the actual data length
+     *
+     * @param true if scan succeeded, false otherwise
+     */
+    bool scan(ValueType type, char *value, int maxlength = 1, int *length = 0);
+
+    /**
+     * gets the XBee firmware version.
+     *
+     * @returns XBee firmwre version in int (unsigned short value)
+     */
+    int getFirmwareVersion();
+
+    /**
+     * gets the current frame ID.
+     *
+     * @returns frame ID number being used in the next send request
+     */
+    char getFrameID();
+
+    /**
+    * sets to run in debug mode.
+    *
+    * @param debug true to display debugging information
+    */
+    void setDebug(bool debug);
+
+    /**
+    * displays received data in dump format.
+    */
+    void dump();
+
+    /**
+     * displays the internal data fields and receive buffer in dump format.
+     */
+    void dumpAll();
+
+    /**
+     * operator overloading for testing XBee modem connection status.
+     *
+     * @returns false if XBee modem connection has an error
+     */
+    operator bool();
+
+private:
+    Serial mon;
+    BusOut leds;
+    int apiMode;
+    volatile enum {UNKNOWN, LENGTH1, LENGTH2, DATA, SUMCHECK} state;
+    volatile int cur, in, out, received, free;
+    char frame_id;
+    char destination64[8];
+    char destination16[2];
+    char buf[BUFSIZE];
+    bool debug;
+
+    void send(char c);
+    void send2(char c);
+    void sendFrame(char* frame, int length);
+    int createTxRequest(char frame_id, char* data, int data_length, char* buf, int buf_size);
+    int createAtRequest(char frame_id, char* command, char* param, int param_length, bool queue, char* buf, int buf_size);
+    int createRemoteAtRequest(char frame_id, char* command, char* param, int param_length, char options, char* buf, int buf_size);
+    int seekFor(FrameType type, float timeout);
+    FrameType getFrameType(char c);
+    bool scan(int i, ValueType type, char *value, int maxlength = 1, int *length = 0);
+    void flush();
+    void rxInterruptHandler();
+    void rxInterruptHandler2();
+
+    void dump(char* data, int length);
+    void dumpIOSample(char *data, int length);
+    void copy(char *toBuf, int fromIndex, int length);
+};
+
+#endif
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